INFORMATION NOTICE ON COOKIES : This website uses only browsing/session cookies. Users can choose whether or not to accept the use of cookies and access the website. By clicking on "Further Information", the full information notice on the types of cookies will be displayed and you will be able to choose whether or not to accept them whilst browsing on the website.Further information

Revision as of 15:22, 29 January 2007

Contents

Why YARP?

YARP is a robotics library we will be using at the school.
It helps free your code from being overly dependent on your robot
hardware and processing setup. It is in a similar spirit to
the player/stage project for mobile robots.

Compiling YARP

Once you have downloaded YARP, you can compile it using CMake. See the README file in the source code for details. In summary, simply run CMake in the directory YARP is in, check that it finds ACE correctly (and help it if not), and when everything is configured build the code with "make" in Unix or whatever compiler you are using for Windows.

Testing YARP

On Unix, you can type "make test" to run some tests.

In the "bin" directory after compilation (possibly under a "debug" or "release" subdirectory) you should find some executables, including one called "yarp" or "yarp.exe".

On Unix, enter the directory containing the yarp executable and put it in your PATH using one of:

export PATH=$PWD:$PATH
setenv PATH $PWD:$PATH

(on Windows, set the environment variable called PATH, and run cmd.exe).

Type "yarp" or "yarp.exe". You should see this message:

This is the YARP network companion.
Call with the argument "help" to see a list of ways to use this program.

Now type some stuff into terminal C and hit return. That stuff should be echoed on terminal B. Now try:

[in terminal D] yarp disconnect /write /read

Now if you type stuff in terminal C, it no longer appears on B. Now try:

[in terminal D] yarp connect /write /read

Now if you type stuff in terminal C, it appears on B again.

If you've gotten this far, things are looking good!

There's a slightly longer test you might try:
It requires that you set the "CREATE_GUIS" and "CREATE_DEVICE_LIBRARY" flags in cmake while compiling (use "ccmake ." to do this on Unix, or just rerun the cmake GUI on windows). Have a look at the README for better instructions.

If you have the "yarpdev" and "yarpview" programs, we can go further. Try: